ModelGenerator.h
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00001 
00013 #ifndef RAIL_PICK_AND_PLACE_MODEL_GENERATOR_H_
00014 #define RAIL_PICK_AND_PLACE_MODEL_GENERATOR_H_
00015 
00016 // RAIL Recognition
00017 #include "PCLGraspModel.h"
00018 
00019 // ROS
00020 #include <actionlib/server/simple_action_server.h>
00021 #include <graspdb/graspdb.h>
00022 #include <rail_pick_and_place_msgs/GenerateModelsAction.h>
00023 #include <ros/ros.h>
00024 
00025 // PCL
00026 #include <pcl/point_cloud.h>
00027 #include <pcl/point_types.h>
00028 
00029 namespace rail
00030 {
00031 namespace pick_and_place
00032 {
00033 
00041 class ModelGenerator
00042 {
00043 public:
00045   static const bool DEFAULT_DEBUG = false;
00046 
00052   ModelGenerator();
00053 
00059   virtual ~ModelGenerator();
00060 
00068   bool okay() const;
00069 
00070 private:
00078   void generateModelsCallback(const rail_pick_and_place_msgs::GenerateModelsGoalConstPtr &goal);
00079 
00090   void generateAndStoreModels(std::vector<PCLGraspModel> &grasp_models, const int max_model_size,
00091       std::vector<uint32_t> &new_model_ids);
00092 
00104   bool registrationCheck(const PCLGraspModel &base, const PCLGraspModel &target, PCLGraspModel &result) const;
00105 
00107   bool debug_, okay_;
00109   graspdb::Client *graspdb_;
00110 
00112   ros::NodeHandle node_, private_node_;
00114   actionlib::SimpleActionServer<rail_pick_and_place_msgs::GenerateModelsAction> as_;
00116   ros::Publisher debug_pc_pub_, debug_poses_pub_;
00117 };
00118 
00119 }
00120 }
00121 
00122 #endif


rail_recognition
Author(s): David Kent , Russell Toris , bhetherman
autogenerated on Thu Jun 6 2019 19:44:08